Driver assistance apparatus, a vehicle, and a method of controlling a vehicle

ABSTRACT

A vehicle includes: a first camera mounted on the vehicle to have a first field of view and configured to acquire first image data; a second camera mounted on the vehicle to have a second field of view and configured to acquire second image data; a display; and a controller. The controller is configured to display around-view data in which the first image data and the second image data are combined so that a boundary between the first image data and the second image data becomes a first reference angle on the display. The controller is also configured to display around-view data in which the first image data and the second image data are combined so that a boundary between the first image data and the second image data becomes a second reference angle on the display based on an obstacle located around the vehicle.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is based on and claims priority under 35 U.S.C. § 119to Korean Patent Application No. 10-2020-0187879, filed on Dec. 30,2020, the disclosure of which is incorporated herein by reference.

BACKGROUND 1. Field

The present disclosure relates to a driver assistance apparatus, avehicle, and a method of controlling the vehicle, and more particularly,to a driver assistance apparatus that assists a driver's vehiclecontrol, a vehicle, and a method of controlling the vehicle.

2. Description of Related Art

Vehicles are the most common means of transportation in modern society,and the number of people using them is increasing. Due to thedevelopment of vehicle technology, long-distance movement or travel iseasy and life is easier. However, in places with a high populationdensity, road traffic conditions deteriorate and traffic congestionoften occurs.

Recently, there have been active studies on a vehicle equipped with anadvanced driver assist system (ADAS), which actively providesinformation about the state of a vehicle, the state of a driver, and thesurrounding environment to reduce the burden on the driver whileenhancing the convenience of the driver.

Examples of the ADAS equipped within the vehicle include ForwardCollision Avoidance (FCA), Autonomous Emergency Brake (AEB), and DriverAttention Warning (DAW).

The driver assistance apparatus may assist a driving of the vehicle aswell as assist parking of the vehicle.

SUMMARY

An aspect of the present disclosure is to provide a driver assistanceapparatus, a vehicle, and a method of controlling a vehicle that candisplay an image of a surrounding without distortion of a surroundingobstacle during parking.

Therefore, it is an aspect of the present disclosure to provide avehicle including a first camera mounted on the vehicle to have a firstfield of view and configured to acquire first image data; a secondcamera mounted on the vehicle to have a second field of view andconfigured to acquire second image data. The vehicle also includes adisplay and a controller. The controller is configured to displayaround-view data in which the first image data and the second image dataare combined so that a boundary between the first image data and thesecond image data becomes a first reference angle on the display. Thecontroller is also configured to display around-view data in which thefirst image data and the second image data are combined so that aboundary between the first image data and the second image data becomesa second reference angle on the display based on an obstacle locatedaround the vehicle.

The controller may be configured to combine the first image data and thesecond image data so that an area occupied by the first image data inthe around-view data is expanded based on the obstacle located in thefirst field of view.

The controller may be configured to combine the first image data and thesecond image data so that an area occupied by the second image data inthe around-view data is expanded based on the obstacle located in thesecond field of view.

The first camera may have the first field of view facing a firstdirection. The second camera may have the second field of view facing asecond direction. The controller may be configured to combine the firstimage data and the second image data so that the boundary faces thesecond direction based on the obstacle located in the first field ofview.

The first camera may have the first field of view facing a firstdirection. The second camera may have the second field of view facing asecond direction. The controller may be configured to combine the firstimage data and the second image data so that the boundary faces thefirst direction based on the obstacle located in the second field ofview.

The first camera may have the first field of view facing a front or rearof the vehicle. The second camera may have the second field of viewfacing a left or right side of the vehicle.

The controller may be configured to combine the first image data and thesecond image data so that an angle between the boundary and a drivingdirection of the vehicle becomes a second reference angle greater thanthe first reference angle based on the obstacle located in front or rearof the vehicle.

The controller may be configured to combine the first image data and thesecond image data so that an angle between the boundary and a drivingdirection of the vehicle becomes a second reference angle less than thefirst reference angle based on the obstacle located in right side orleft side of the vehicle.

The controller may be configured to combine the first image data and thesecond image data so that an angle between the boundary and a drivingdirection of the vehicle becomes a second reference angle less than thefirst reference angle based on a driving speed of the vehicle beingequal to or greater than a reference speed.

The controller may be configured to combine the first image data and thesecond image data so that an angle between the boundary and a drivingdirection of the vehicle becomes a second reference angle greater thanthe first reference angle based on an opening of the vehicle door.

The controller may be configured to combine the first image data and thesecond image data so that an angle between the boundary and a drivingdirection of the vehicle becomes a second reference angle less than thefirst reference angle based on an opening of a trunk gate of thevehicle.

The vehicle may further include: a first ultrasound sensor mounted onthe vehicle to have a first detection area overlapping the first fieldof view and configured to detect the obstacle: and a second ultrasoundsensor mounted on the vehicle to have a second detection areaoverlapping the second field of view and configured to detect theobstacle.

The controller may be configured to combine the first image data and thesecond image data so that an area occupied by the first image data inthe around-view data is expanded based on a determination that theobstacle is detected by the first ultrasound sensor.

The controller may be configured to combine the first image data and thesecond image data so that an area occupied by the second image data inthe around-view data is expanded based on a determination that theobstacle is detected by the second ultrasound sensor.

The first ultrasound sensor may have a first detection area facing afront or rear of the vehicle, and the second ultrasound sensor has asecond detection area facing a left or right side of the vehicle.

The controller may be configured to combine the first image data and thesecond image data so that an angle between the boundary and a drivingdirection of the vehicle becomes a second reference angle greater thanthe first reference angle based on a determination that the obstacle isdetected by the first ultrasound sensor.

The controller may be configured to combine the first image data and thesecond image data so that an angle between the boundary and a drivingdirection of the vehicle becomes a second reference angle less than thefirst reference angle based on a determination that the obstacle isdetected by the second ultrasound sensor.

It is another aspect of the present disclosure to provide a method ofcontrolling a vehicle including a first camera having a first field ofview and a second camera having a second field of view. The methodincludes acquiring first image data by the first camera and acquiringsecond image data by the second camera. The method also includesdisplaying around-view data in which the first image data and the secondimage data are combined so that a boundary between the first image dataand the second image data becomes a first reference angle. The methodalso includes displaying second around-view data in which the firstimage data and the second image data are combined so that a boundarybetween the first image data and the second image data becomes a secondreference angle based on an obstacle located around the vehicle.

It is another aspect of the present disclosure to provide a driverassistance apparatus including: a first camera mounted on the vehicle tohave a first field of view and configured to acquire first image data; asecond camera mounted on the vehicle to have a second field of view andconfigured to acquire second image data; and a controller. Thecontroller is configured to transmit around-view data to a display ofthe vehicle to display around-view data in which the first image dataand the second image data are combined so that a boundary between thefirst image data and the second image data becomes a first referenceangle. The controller is also configured to combine the first image dataand the second image data so that a boundary between the first imagedata and the second image data becomes a second reference angle based onan obstacle located around the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects of the disclosure should become apparent andmore readily appreciated from the following description of theembodiments, taken in conjunction with the accompanying drawings ofwhich:

FIG. 1 is a view illustrating a configuration of a vehicle according toan embodiment;

FIG. 2 illustrates a field of view of cameras installed in a vehicleaccording to an embodiment;

FIG. 3 illustrates image data photographed by a camera included in adriver assistance apparatus according to an embodiment;

FIG. 4 illustrates image data corrected by a driver assistance apparatusaccording to an embodiment;

FIG. 5 illustrates an example of image data combined by a driverassistance apparatus according to an embodiment;

FIGS. 6A, 6B, 60, and 6D illustrate various examples of image datacombined by a driver assistance apparatus according to an embodiment;

FIGS. 7A and 7B illustrate an example of around-view data generated by adriver assistance apparatus according to an embodiment while a vehicleis parked and while driving;

FIGS. 8A and 8B illustrate an example of around-view data generated by adriver assistance apparatus according to an embodiment while a vehicleis moving;

FIGS. 9A, 9B, and 9C illustrate an example of around-view data generatedby a driver assistance apparatus according to an embodiment while avehicle is moving;

FIGS. 10A and 10B illustrate an example of around-view data generated bya driver assistance apparatus according to an embodiment while anobstacle is moving;

FIGS. 11A, 11B, and 11C illustrate an example of around-view datagenerated by a driver assistance apparatus according to an embodimentwhile an obstacle is moving;

FIGS. 12A and 12B illustrate an example of around-view data generated bya driver assistance apparatus according to an embodiment while a vehicleand an obstacle are moving;

FIG. 13 illustrates an example of around-view data generated by a driverassistance apparatus according to an embodiment when a vehicle moves andan obstacle passes by the right side of a vehicle;

FIG. 14 illustrates an example of around-view data generated by a driverassistance apparatus according to an embodiment when an obstacle movesand an obstacle passes by the right side of a vehicle;

FIGS. 15A, 15B, and 15C illustrate an example of around-view datagenerated by a driver assistance apparatus according to an embodimentwhen an obstacle moves and an obstacle passes in front of a vehicle;

FIGS. 16A, 16B, and 16C illustrate an example of around-view datagenerated by a driver assistance apparatus according to an embodimentwhile a vehicle is parked;

FIG. 17 illustrates an example of changing boundaries of around-viewdata of a driver assistance apparatus according to an embodiment;

FIG. 18 illustrates a change in an image at boundaries of around-viewdata of a driver assistance apparatus according to an embodiment; and

FIG. 19 illustrates a method of generating around-view data by a driverassistance apparatus according to an embodiment.

DETAILED DESCRIPTION

The following detailed description is provided to assist the reader ingaining a comprehensive understanding of the methods, apparatuses,and/or systems described herein. Accordingly, various changes,modifications, and equivalents of the methods, apparatuses, and/orsystems described herein should be apparent to those of ordinary skillin the art. The progression of processing operations described is anexample. However, the sequence of and/or operations is not limited tothat set forth herein and may be changed, with the exception ofoperations necessarily occurring in a particular order. In addition,respective descriptions of well-known functions and constructions havebeen omitted for increased clarity and conciseness.

Additionally, embodiments are now described more fully hereinafter withreference to the accompanying drawings. The embodiments may, however, beembodied in many different forms and should not be construed as beinglimited to the embodiments set forth herein. These embodiments areprovided so that this disclosure is thorough and complete and fullyconveys the embodiments to those of ordinary skill in the art. Likenumerals denote like elements throughout.

It should be understood that, although the terms first, second, etc. maybe used herein to describe various elements, these elements should notbe limited by these terms. These terms are only used to distinguish oneelement from another. As used herein, the term “and/or,” includes anyand all combinations of one or more of the associated listed items.

It should be understood that when an element is referred to as being“connected,” or “coupled,” to another element, it can be directlyconnected or coupled to the other element or intervening elements may bepresent. In contrast, when an element is referred to as being “directlyconnected,” or “directly coupled,” to another element, there are nointervening elements present.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting. As used herein, thesingular forms “a,” “an,” and “the,” are intended to include the pluralforms as well, unless the context clearly indicates otherwise.

Reference is now made in detail to the embodiments of the presentdisclosure, examples of which are illustrated in the accompanyingdrawings, wherein like reference numerals refer to like elementsthroughout the present disclosure.

The expression, “at least one of a, b, and c,” should be understood asincluding only a, only b, only c, both a and b, both a and c, both b andc, or all of a, b, and c.

When a component, device, element, or the like of the present disclosureis described as having a purpose or performing an operation, function,or the like, the component, device, or element should be consideredherein as being “configured to” meet that purpose or to perform thatoperation or function.

FIG. 1 is a view illustrating a configuration of a vehicle according toan embodiment. FIG. 2 illustrates a field of view of cameras installedin a vehicle according to an embodiment. FIG. 3 illustrates image dataphotographed by a camera included in a driver assistance apparatusaccording to an embodiment. FIG. 4 illustrates image data corrected by adriver assistance apparatus according to an embodiment. FIG. 5illustrates an example of image data combined by a driver assistanceapparatus according to an embodiment. FIGS. 6A, 6B, 6C, and 6Dillustrate various examples of image data combined by a driverassistance apparatus according to an embodiment.

As shown in FIG. 1, a vehicle 1 includes a display 10 for displayingoperation information and a driver assistance apparatus 100 forassisting a driver.

The display 10 may include a cluster and a multimedia player.

The cluster may be provided in front of the driver and may displaydriving information of the vehicle 1 including the driving speed of thevehicle 1, the revolutions per minute (RPM) of the engine and/or theamount of fuel, and the like. Also, the cluster may display an imageprovided from the driver assistance apparatus 100.

The multimedia player may display an image (or moving image) for theconvenience and fun of the driver. Also, the multimedia player maydisplay an image provided from the driver assistance apparatus 100.

The driver assistance apparatus 100 includes an image photographingdevice 110 that photographs images around the vehicle 1 and acquiresimage data. The driver assistance apparatus 100 also includes anobstacle detector 120 that detects obstacles around the vehicle 1without contact. The driver assistance apparatus 100 also includes acontroller 140 for controlling the operation of the driver assistanceapparatus 100 based on the output of the image photographing device 110and the output of the obstacle detector 120. Here, the obstacle is anobject that interferes with the driving of the vehicle 1 and theobstacle may include, for example, a vehicle, a pedestrian, a structureon a road, and the like.

The image photographing device 110 includes a first camera 111, a secondcamera 112, a third camera 113, and a fourth camera 114.

The first camera 111 may photograph the front of the vehicle 1 andacquire first image data of the front of the vehicle 1.

The first camera 111 may have a first field of view (FOV) 111 a facingthe front of the vehicle 1 as shown in FIG. 2. For example, the firstcamera 111 may be installed on a front windshield of the vehicle 1 or agrille of the vehicle 1.

The first camera 111 may include a plurality of lenses and an imagesensor. The image sensor may include a plurality of photodiodes forconverting light into electrical signals, and the plurality ofphotodiodes may be arranged in a two-dimensional matrix.

The first camera 111 may be electrically connected to the controller140. For example, the first camera 111 may be connected to thecontroller 140 through a vehicle communication network NT, may beconnected to the controller 140 through a hard wire, or may be connectedto the controller 140 through a signal line of a printed circuit board(PCB).

The first camera 111 may provide first image data in front of thevehicle 1 to the controller 140.

The second camera 112 may photograph the rear of the vehicle 1 andacquire second image data of the rear of the vehicle 1.

The second camera 112 may have a second field of view 112 a facing therear of the vehicle 1 as shown in FIG. 2. For example, the second camera112 may be installed in a tailgate of the vehicle 1.

The second camera 112 may be electrically connected to the controller140 and may provide second image data of the rear of the vehicle 1 tothe controller 140.

The third camera 113 may photograph the left side of the vehicle 1 andacquire third image data on the left side of the vehicle 1.

The third camera 113 may have a third field of view 113 a facing theleft side of the vehicle 1 as shown in FIG. 2. For example, the thirdcamera 113 may be installed on a left rear view mirror of the vehicle 1.

The third camera 113 may be electrically connected to the controller 140and may provide third image data on the left side of the vehicle 1 tothe controller 140.

The fourth camera 114 may photograph the right side of the vehicle 1 andacquire fourth image data on the right side of the vehicle 1.

The fourth camera 114 may have a third field of view 114 a facing theright side of the vehicle 1 as shown in FIG. 2. For example, the fourthcamera 114 may be installed on the right rear view mirror of the vehicle1.

The fourth camera 114 may be electrically connected to the controller140 and may provide fourth image data on the right side of the vehicle 1to the controller 140.

As shown in FIG. 2, the first field of view 111 a of the first camera111, the second field of view 112 a of the second camera 112, the thirdfield of view 113 a of the third camera 113 and the fourth field of view114 a of the fourth camera 114 may overlap each other. For example, theleft end of the first field of view 111 a of the first camera 111overlaps the front end of the third field of view 113 a of the thirdcamera 113, and the right end of the first field of view 111 a of thefirst camera 111 may overlap with the front end of the fourth field ofview 114 a of the fourth camera 114. In addition, the left end of thesecond field of view 112 a of the second camera 112 overlaps the rearend of the third field of view 113 a of the third camera 113, and theright end of the second field of view 112 a of the second camera 112 mayoverlap the rear end of the fourth field of view 114 a of the fourthcamera 114.

The obstacle detector 120 includes a first ultrasound sensor 121, asecond ultrasound sensor 122, a third ultrasound sensor 123, and afourth ultrasound sensor 124

The first ultrasound sensor 121 may detect an obstacle positioned infront of the vehicle 1 and may output first detection data indicatingwhether the obstacle is detected and the location of the obstacle. Thefirst ultrasound sensor 121 may include a transmitter that transmitsultrasound toward the front of the vehicle 1 and a receiver thatreceives ultrasound reflected from an obstacle positioned in front ofthe vehicle 1. For example, the first ultrasound sensor 121 may includea plurality of transmitters provided in front of the vehicle 1 or aplurality of receivers provided in front of the vehicle 1 in order toidentify the location of an obstacle in front of the vehicle 1.

The first ultrasound sensor 121 may be electrically connected to thecontroller 140. For example, the ultrasound sensor 121 may be connectedto the controller 140 through the vehicle communication network (NT),connected to the controller 140 through a hard wire, or connected to thecontroller 140 through a signal line of a printed circuit board.

The first ultrasound sensor 121 may provide the first detection data ofthe front of the vehicle 1 to the controller 140.

The second ultrasound sensor 122 may detect an obstacle in the rear ofthe vehicle 1 and output second detection data of the rear of thevehicle 1. For example, the second ultrasound sensor 122 may include aplurality of transmitters provided at the rear of the vehicle 1 or aplurality of receivers provided at the rear of the vehicle 1 in order toidentify the location of the obstacle in the rear of the vehicle 1.

The second ultrasound sensor 122 may be electrically connected to thecontroller 140 and may provide second detection data of the rear of thevehicle 1 to the controller 140.

The third ultrasound sensor 123 may detect an obstacle of the left sideof the vehicle 1 and output third detection data of the left side of thevehicle 1. For example, the third ultrasound sensor 123 may include aplurality of transmitters provided on the left side of the vehicle 1 ora plurality of receivers provided on the left side of the vehicle 1 inorder to identify the location of the obstacle of the left side of thevehicle 1.

The third ultrasound sensor 123 may be electrically connected to thecontroller 140 and may provide third detection data of the left side ofthe vehicle 1 to the controller 140.

The fourth ultrasound sensor 124 may detect an obstacle of the rightside of the vehicle 1 and output fourth detection data of the right sideof the vehicle 1. For example, the fourth ultrasound sensor 124 mayinclude a plurality of transmitters provided on the right side of thevehicle 1 or a plurality of receivers provided on the right side of thevehicle 1 to identify the location of the obstacle on the right side ofthe vehicle 1.

The fourth ultrasound sensor 124 may be electrically connected to thecontroller 140 and may provide the fourth detection data of the rightside of the vehicle 1 to the controller 140.

The controller 140 may be electrically connected to a plurality ofcameras 111, 112, 113, and 114 included in the image photographingdevice 110 and a plurality of ultrasound sensors 121, 122, 123, and 124included in the obstacle detector 120, In addition, the controller 140may be connected to the display 10 of the vehicle 1 throughcommunication for the vehicle.

The controller 140 may include a processor 141 and a memory 142. Thecontroller 140 may include, for example, one or more processors or oneor more memories. Each of the processor 141 and the memory 142 may beimplemented as a separate semiconductor device or may be implemented asa single semiconductor device.

The processor 141 may include one chip (or core) or may include aplurality of chips (or cores). For example, the processor 141 mayinclude a digital signal processor that processes the detecting data ofthe first and second radars 110 and 120, and/or the processor 141 mayinclude a micro control unit (MCU) that generates a drivingsignal/braking signal/steering signal.

The processor 141 receives a plurality of detection data from theplurality of ultrasound sensors 121, 122, 123, and 124 and identifieswhether an obstacle is located around the vehicle 1 based on thereceived detection data and identifies the location of the obstacle. Forexample, the processor 141 may identify whether the obstacle is locatedin front or rear or on the left or right side of the vehicle 1. Further,the processor 141 may identify an obstacle located in the left front ofthe vehicle 1, an obstacle located in the right front of the vehicle 1,an obstacle located in the left rear of the vehicle 1, and an obstaclelocated in the right rear side of the vehicle 1.

The processor 141 receives a plurality of image data 201, 202, 203, and204 from a plurality of cameras 111, 112, 113 and 114 and may generatean around-view image representing the surroundings of the vehicle 1 byusing the received image data 201, 202, 203, and 204. For example, theprocessor 141 may correct the image data 201, 202, 203, and 204 receivedfrom the plurality of cameras 111, 112, 113 and 114 to the top-view data211, 212, 213, and 214 and may generate the around-view data 220 bycombining the top-view data 211, 212, 213, and 214.

The memory 142 processes the detection data of the ultrasound sensors121, 122, 123, 124 and the image data 201, 202, 203, 204 of the cameras111, 112, 113, and 114 and may store programs and data for controllingthe operation of the driver assistance apparatus 100.

The memory 142 may include a volatile memory, such as a Static RandomAccess Memory (S-RAM) and a Dynamic Random Access Memory (D-RAM), and anon-volatile memory, such as a Read Only Memory (ROM) and an ErasableProgrammable Read Only Memory (EPROM). The memory 142 may include onememory device or may include a plurality of memory devices.

As described above, the controller 140 may identify an obstacle aroundthe vehicle 1 and generate an around-view image around the vehicle 1 bythe program and data stored in the memory 142 and the operation of theprocessor 141.

Specifically, the first, second, third, and fourth cameras 111, 112,113, and 114 may provide the first, second, third, and fourth image data201, 202, 203, and 204 as shown in FIG. 3 to the controller 140.

Each of the first, second, third, and fourth cameras 111, 112, 113, and114 may include, for example, a fisheye lens in order to expand aphotographable field of view. Accordingly, the first, second, third, andfourth image data 201, 202, 203 and 204 photographed by the first,second, third, and fourth cameras 111, 112, 113, and 114, respectivelymay be a fisheye-view as shown in FIG. 3. For example, in the first,second, third, and fourth image data 201, 202, 203, and 204, the heightof the center portion of the image and the height of the left and rightedge portions of the image may be different from each other.

The controller 140 may correct the fisheye-view image data 201, 202,203, and 204 into top-view image data. For example, the controller 140may correct the fisheye-view image data 201, 202, 203, and 204 to thetop-view data 211, 212, 213, and 214 using a de-warping algorithm.

As shown in FIG. 4, the controller 140 may correct the first, second,third, and fourth image data 201, 202, 203, and 204 to the first,second, third, and fourth top-view data 211, 212, 213, and 214.

The controller 140 may generate around-view data 220 around the vehicle1 as shown in FIG. 5 by combining a plurality of top-view data 211, 212,213, 214.

The controller 140 may correct the first, second, third, and fourthtop-view data 211, 212, 213, and 214.

For example, the controller 140 cuts the first, second, third, andfourth top-view data 211, 212, 213, and 214 into a substantiallytrapezoidal shape and then may combine the cut top-view data 211, 212,213, and 214 as shown in FIG. 5. As shown in FIG. 5, the first top-viewdata 211 and the second top-view data 212 are cut so that the anglebetween the base and the hypotenuse (hereinafter referred to as “theangle of the hypotenuse”) is 34 degrees. The third top-view data 213 andthe fourth top-view data 214 may be cut so that the angle between thebase and the hypotenuse (hereinafter, referred to as “the angle of thehypotenuse”) is 56 degrees.

The controller 140 may combine the cut top-view data 211, 212, 213, and214 so that hypotenuses of the cut top-view data 211, 212, 213, and 214face each other. The around-view data 220 may be generated by combiningthe cut top-view data 211, 212, 213, and 214.

In this case, the around-view data 220 may include a plurality ofboundaries 221, 222, 223, and 224 in which the cut top-view data 211,212, 213, and 214 are combined. The plurality of boundaries 221, 222,223, and 224 may include a first boundary 221 in which the firsttop-view data 211 and the third top-view data 213 are combined, a secondboundary 222 in which the first top-view data 211 and the fourthtop-view data 214 are combined, a third boundary 223 in which the secondtop-view data 212 and the third top-view data 213 are combined, and afourth boundary 224 in which the second top-view data 212 and the fourthtop-view data 214 are combined. The angle between the longitudinal axisof the vehicle 1 (the axis extending in the front-rear direction of thevehicle) and the first boundary 221 (hereinafter referred to as “theangle of the first boundary”) and an angle between the longitudinal axisof the vehicle 1 and the second boundary 222 (hereinafter, referred toas an “angle of the second boundary”) may be a first reference angle(e.g., 56 degrees). In addition, the angle between the longitudinal axisof the vehicle 1 and the third boundary 223 (hereinafter referred to as“the angle of the third boundary”) and the angle between thelongitudinal axis of the vehicle 1 and the fourth boundary 224(hereinafter referred to as “angle of the fourth boundary”) may also bethe first reference angle (e.g., 56 degrees).

The controller 140 may transmit the around-view data 220 to the display10 so that the around-view image is displayed on the display 10.

As described above, when the first, second, third, and fourth top-viewdata 211, 212, 213, and 214 are corrected to have a hypotenuse of apredetermined angle, the obstacle 2 may not be displayed properly.

For example, as shown in FIG. 5, when the obstacle 2 is located on thefront left side of the vehicle 1, an image information about theobstacle 2 may be removed by correction (cutting) of the first top-viewdata 211 of the vehicle 1 and correction (cutting) of the third top-viewdata 213. In other words, the obstacle 2 may not be displayed in thearound-view data (220).

To prevent obstacle 2 from not being displayed in around-view data (220)like this, the controller 140 may correct the first, second, third, andfourth top-view data 211, 212, 213, and 214 based on whether an obstacleis located around the vehicle 1 and the location of the obstacle.

When an obstacle is located around the vehicle 1, the controller 140 maycorrect (cut) the image data so that the area occupied by image data(top-vie data) indicating the area where the obstacle is located isexpanded.

For example, if an obstacle is not located around the vehicle 1 as shownin FIG. 8A, the controller 140 may correct the top-view data 211, 212,213, and 214 to have a hypotenuse of a predetermined reference angle(e.g., 34 degrees or 56 degrees).

As another example, as shown n FIG. 6B, if the obstacle 2 is located inthe rear of the vehicle 1, the controller 140 may correct the top-viewdata 211, 212, 213, and 214 so that the second top-view imagerepresenting the rear of the vehicle 1 in the around-view image isexpanded. The controller 140 may correct the second top-view data 212 sothat the angle of the hypotenuse of the second top-view image is changed(eg, changed to 10 degrees). Also, the controller 140 may correct thethird top-view data 213 and the fourth top-view data 214 so that theangle of the hypotenuse of the third top-view image and the fourthtop-view image is changed (eg, changed to 80 degrees). In thearound-view image, the angle of the third boundary 223 and the angle ofthe fourth boundary 224 may be changed to a second reference angle (eg,80 degrees). In other words, the third boundary 223 may be inclinedtoward the left side of the vehicle 1, and the fourth boundary 224 maybe inclined toward the right side of the vehicle 1. By such a structure,the area of the image photographed by the second camera 112 installed atthe rear of the vehicle 1 in the around-view image can be expanded, andthe obstacle 2 located at the rear of the vehicle 1 can be displayed onthe around-view image without distortion.

As another example, as shown in FIG. 60, if the obstacle 2 is located onthe right side of the vehicle 1, the controller 140 may correct thetop-view data 211, 212, 213, and 214 so that the fourth top-view imagerepresenting the right side of the vehicle 1 in the around-view image isexpanded. The controller 140 may correct the fourth top-view data 214 sothat the angle of the hypotenuse of the fourth top-view image is changed(e.g., changed to 10 degrees). Also, the controller 140 may correct thefirst top-view data 211 and the second top-view data 212 so that thehypotenuse angles of the first top-view image and the second top-viewimage are changed (e.g., changed to 80 degrees). In the around-viewimage, the angle of the second boundary 222 and the angle of the fourthboundary 224 may be changed to a third reference angle (e.g., 10degrees). In other words, the second boundary 222 may be inclined towardthe front of the vehicle 1, and the fourth boundary 224 may be inclinedtoward the rear of the vehicle 1. By such a structure, the area of theimage photographed by the fourth camera 114 installed on the right sideof the vehicle 1 in the around-view image can be expanded, and theobstacle 2 located on the right side of the vehicle 1 can be displayedon the around-view image without distortion.

As another example, as shown in FIG. 6D, if the obstacle 2 is located onthe rear and right side of the vehicle 1, the controller 140 may correctthe top-view data so that the second top-view image representing therear of the vehicle 1 and the fourth top-view image representing theright side of the vehicle 1 are expanded in the around-view image. Inthe around-view image, the angle of the second boundary 222 may bechanged to a third reference angle (e.g., 10 degrees), and the angle ofthe third boundary 223 may be changed to a second reference angle (e.g.,80 degrees). The angle of the fourth boundary 224 in which the secondtop-view data 212 and the fourth top-view data 214 are in contact maymaintain a first reference angle (e.g., 56 degrees). In other words, thesecond boundary 222 may be inclined toward the front of the vehicle 1,and the third boundary 223 may be inclined toward the right side of thevehicle 1. By such a structure, the area of the image photographed bythe second camera 112 and the fourth camera 114 installed on the rightside of the vehicle 1 in the around-view image can be expanded, and theobstacles 2 located on the rear and right sides of the vehicle 1 can bedisplayed on the around-view image without distortion.

As described above, the controller 140 may generate around-view data 220based on the detected obstacle, and transmit the around-view data 220 tothe display 10 to display the around-view image.

Various embodiments of generating around-view data 220 are describedbelow.

FIGS. 7A and 7B illustrate an example of around-view data generated by adriver assistance apparatus according to an embodiment while a vehicleis parked and while driving.

If vehicle 1 is parked or the driving speed is less than the referencespeed, the driver assistance apparatus 100 may generate around-view data220 by combining image data photographed by the first, second, third,and fourth cameras 111, 112, 113, and 114.

The driver assistance apparatus 100 may set angles of the first, second,third, and fourth boundaries 221, 222, 223, and 224 of the around-viewdata 220 as a first reference angle (e.g., 56 degrees) as shown in FIG.7A.

If the driving speed of vehicle 1 is greater than or equal to thereference speed, the driver assistance apparatus 100 may set the anglesof the first, second, third, and fourth boundaries 221, 222, 223, and224 of the around-view data 220 as a third reference angle (e.g., 10degrees) as shown in FIG. 7B.

When the door of the vehicle 1 is opened while the vehicle 1 is parked,the driver assistance apparatus 100 may set the angles of the first,second, third, and fourth boundaries 221, 222, 223, and 224 as secondreference angle (e.g., 80 degrees).

In addition, if the trunk gate of the vehicle 1 is opened while thevehicle 1 is parked, the driver assistance apparatus 100 may set theangles of the first boundary 221 and the second boundary 222 in front ofthe vehicle 1 as a second reference angle (e.g., 80 degrees) and set theangles of the third boundary 223 and the fourth boundary 224 at the rearof the vehicle 1 as a third reference angle (e.g., 10 degrees).

FIGS. 8A and 88 illustrate an example of around-view data generated by adriver assistance apparatus according to an embodiment while a vehicleis moving. FIGS. 9A, 9B, and 90 illustrate an example of around-viewdata generated by a driver assistance apparatus according to anembodiment while a vehicle is moving.

While the vehicle 1 is moving backward, the driver assistance apparatus100 may detect an obstacle 2 located at the right rear side of thevehicle 1 based on detection data of ultrasound sensors 121, 122, 123,and 124.

The driver assistance apparatus 100 may generate around-view data 220such that a region of the right image photographed by the fourth camera114 in the around-view image is expanded based on the detection of theobstacle 2 located in the rear right of the vehicle 1. For example, asshown in FIG. 8A, the driver assistance apparatus 100 maintains theangle of the first boundary 221, the angle of the second boundary 222,and the angle of the third boundary 223 of the around-view data 220 as afirst reference angle (e.g., 56 degrees) and may change the angle of thefourth boundary 224, which is a boundary of the right and rear sides ofthe vehicle 1, to a third reference angle (e.g., 10 degrees).

While the vehicle 1 is moving backward, the driver assistance apparatus100 may detect an obstacle 2 located at the rear of the vehicle 1 basedon detection data of ultrasound sensors 121, 122, 123, and 124.

The driver assistance apparatus 100 may generate around-view data 220such that a region of the rear image photographed by the second camera112 in the around-view image is expanded based on the detection of theobstacle 2 located at the rear of the vehicle 1. For example, as shownin FIG. 8B, the driver assistance apparatus 100 maintains the angle ofthe first boundary 221 and the angle of the second boundary 222 of thearound-view data 220 as a first reference angle (e.g., 56 degrees) andmay change the angle of the third boundary 223 and the angle of thefourth boundary 224 of the rear of the vehicle 1 to a second referenceangle (e.g., 80 degrees).

In addition, while the vehicle 1 is moving backward, the driverassistance apparatus 100 may generate around-view data 220 such that thearea of the rear image in the around-view image is expanded based on thedistance between the vehicle 1 and the obstacle 2.

For example, based on the obstacle 2 not being detected, as shown inFIG. 9A, the driver assistance apparatus 100 may correct the image dataso that angles of the first, second, third, and fourth boundaries 221,222, 223, and 224 of the around-view data 220 become a first referenceangle (e.g., 56 degrees).

Based on a determination that the obstacle 2 is detected by the movementof the vehicle 1 and the distance to the obstacle 2 is greater than orequal to the reference distance, as shown in FIG. 9B, the driverassistance apparatus 100 may still correct the image data so that theangles of the first, second, third, and fourth boundaries 221, 222, 223,and 224 of the around-view data 220 become the first reference angle(e.g., 56 degrees).

Based on a determination that the obstacle 2 is detected by the movementof the vehicle 1 and the distance to the obstacle 2 is less than thereference distance, as shown in FIG. 90, the driver assistance apparatus100 may correct the image data so that the angles of the third andfourth boundaries 223 and 224 of the around-view data 220 become thesecond reference angle (e.g., 80 degrees).

FIGS. 10A and 10B illustrate an example of around-view data generated bya driver assistance apparatus according to an embodiment while anobstacle is moving. FIGS. 11A, 11B, and 11C illustrate an example ofaround-view data generated by a driver assistance apparatus according toan embodiment while an obstacle is moving.

The driver assistance apparatus 100 may detect an obstacle 2 moving fromthe right rear side of the vehicle 1 based on detection data of theultrasound sensors 121, 122, 123, and 124. The driver assistanceapparatus 100 may change the angle of the fourth boundary 224 of thearound-view data 220 to a third reference angle (e.g., 10 degrees) asshown in FIG. 10A based on detecting the obstacle 2 moving from theright rear side of the vehicle 1.

The driver assistance apparatus 100 may detect an obstacle 2 moving fromthe rear of the vehicle 1 based on detection data of the ultrasoundsensors 121, 122, 123, and 124. The driver assistance apparatus 100 maychange the angle of the third boundary 223 and the angle of fourthboundary 224 of the around-view data 220 to a second reference angle(e.g., 80 degrees) as shown in FIG. 10B based on detecting the obstacle2 moving from the rear of the vehicle 1.

Also, while the obstacle 2 is moving toward the vehicle 1, the driverassistance apparatus 100 may generate around-view data 220 such that thearea of the rear image in the around-view image is expanded based on thedistance between the vehicle 1 and the obstacle 2.

For example, based on the obstacle 2 not being detected, as shown inFIG. 11A, the driver assistance apparatus 100 may correct the image dataso that angles of the first, second, third, and fourth boundaries 221,222, 223, and 224 of the around-view data 220 become a first referenceangle (e.g., 56 degrees).

Based on a determination that the obstacle 2 is detected by the movementof the obstacle 2 and the distance to the obstacle 2 is greater than orequal to the reference distance, as shown in FIG. 11B, the driverassistance apparatus 100 may still correct the image data so that theangles of the first, second, third, and fourth boundaries 221, 222, 223,and 224 of the around-view data 220 become the first reference angle(e.g., 56 degrees).

Based on a determination that the obstacle 2 is detected and thedistance to the obstacle 2 is less than the reference distance, as shownin FIG. 110, the driver assistance apparatus 100 may correct the imagedata so that the angles of the third and fourth boundaries 223 and 224of the around-view data 220 become the second reference angle (e.g., 80degrees).

FIGS. 12A and 12B illustrate an example of around-view data generated bya driver assistance apparatus according to an embodiment while a vehicleand an obstacle are moving.

While the vehicle 1 is moving backward, the driver assistance apparatus100 may detect an obstacle 2 located at the right rear side of thevehicle 1 based on detection data of ultrasound sensors 121, 122, 123,and 124. The driver assistance apparatus 100 may change the angle of thefourth boundary 224 of the around-view data 220 to a third referenceangle (e.g., 10 degrees) as shown in FIG. 12A based on detecting theobstacle 2 moving from the right rear of the vehicle 1 moving backward.

While the vehicle 1 is moving backward, the driver assistance apparatus100 may detect an obstacle 2 moving from the rear of the vehicle 1 basedon detection data of the ultrasound sensors 121, 122, 123, and 124. Thedriver assistance apparatus 100 may change the angle of the thirdboundary 223 and the angle of the fourth boundary 224 of the around-viewdata 220 to a second reference angle (e.g., 80 degrees) as shown in FIG.12B based on detecting the obstacle 2 moving from the right rear of thevehicle 1 moving backward.

FIG. 13 illustrates an example of around-view data generated by a driverassistance apparatus according to an embodiment when a vehicle moves andan obstacle passes through the right side of a vehicle.

As shown in FIG. 13, the driver assistance apparatus 100 may set theangle of the fourth boundary 224 of the around-view data 220 as a secondreference angle (e.g., 80 degrees) based on the detection of theobstacle 2 at the rear of the vehicle 1.

By the movement of the vehicle 1, the obstacle 2 can move from the rearof the vehicle 1 to the right side of the vehicle 1 through the rightrear of the vehicle 1. The driver assistance apparatus 100 may changethe angle of the fourth boundary 224 of the around-view data 220 to athird reference angle (e.g., 10 degrees) based on the detection of theobstacle of the right side of the vehicle 1.

By moving the vehicle 1, the obstacle 2 may move from the right side ofthe vehicle 1 to the right front side of the vehicle 1. The driverassistance apparatus 100 may change the angle of the second boundary 222of the around-view data 220 to a third reference angle (e.g., 10degrees) and change the angle of the fourth boundary 224 to the firstreference angle (e.g., 56 degrees) based on the detection of theobstacle 2 of the right front side of the vehicle 1.

By the movement of the vehicle 1, the obstacle 2 can move to the frontof the vehicle 1 through the right front of the vehicle 1. The driverassistance apparatus 100 may change the angle of the second boundary 222of the around-view data 220 to a second reference angle (e.g., 80degrees) based on the detection of the obstacle of the front of thevehicle 1.

As described above, while obstacle 2 passes through the right side ofvehicle 1, the driver assistance apparatus 100 may change the angle ofthe second boundary 222 and the angle of the fourth boundary 224 of thearound-view data 220 according to the location of the obstacle 2.

FIG. 14 illustrates an example of around-view data generated by a driverassistance apparatus according to an embodiment when an obstacle movesand an obstacle passes through the right side of a vehicle.

As shown in FIG. 14, the driver assistance apparatus 100 may set theangle of the fourth boundary 224 of the around-view data 220 as a secondreference angle (e.g., 80 degrees) based on the detection of theobstacle 2 at the rear of the vehicle 1.

By the movement of the obstacle 2, the obstacle 2 can move from the rearof the vehicle 1 to the right side of the vehicle 1 through the rightrear of the vehicle 1. The driver assistance apparatus 100 may changethe angle of the fourth boundary 224 of the around-view data 220 to athird reference angle (e.g., 10 degrees) and then change to the firstreference angle (e.g., 56 degrees).

By the movement of the obstacle 2, the obstacle 2 can move from theright side of the vehicle 1 to the front of the vehicle 1 through theright front side of the vehicle 1. The driver assistance apparatus 100changes the angle of the second boundary 222 of the around-view data 220to a third reference angle (e.g., 10 degrees) and then changes to asecond reference angle (e.g., 80 degrees).

As described above, while obstacle 2 passes through the right side ofvehicle 1, the driver assistance apparatus 100 may change the angle ofthe second boundary 222 and the angle of the fourth boundary 224 of thearound-view data 220 according to the location of the obstacle 2.

FIGS. 15A, 153, and 150 illustrate an example of around-view datagenerated by a driver assistance apparatus according to an embodimentwhen an obstacle moves and an obstacle passes in front of a vehicle.

As shown in FIGS. 15A, 153, and 150, the driver assistance apparatus 100may set the angle of the first boundary 221 of the around-view data 220to a third reference angle (e.g., 10 degrees) based on the detection ofthe obstacle 2 of the left side of the vehicle 1.

By the movement of the obstacle 2, the obstacle 2 can move from the leftside of the vehicle 1 to the front of the vehicle 1 through the frontleft side of the vehicle 1.

Based on a determination that the obstacle 2 is detected from the leftfront side of the vehicle 1, the driver assistance apparatus 100 maychange the angle of the first boundary 221 of the around-view data 220to a first reference angle (e.g., 56 degrees).

Thereafter, based on a determination that the obstacle 2 is detectedfrom the front of the vehicle 1, the driver assistance apparatus 100 maychange the angle of the first boundary 221 of the around-view data 220to a second reference angle (e.g., 80 degrees).

As described above, while the obstacle 2 passes through the front of thevehicle 1, the driver assistance apparatus 100 may change the angle ofthe first boundary 221 of the around-view data 220 according to thelocation of the obstacle 2.

FIGS. 16A, 16B, and 160 illustrates an example of around-view datagenerated by a driver assistance apparatus according to an embodimentwhile a vehicle is parked.

As shown in FIGS. 16A, 16B, and 16C, while vehicle 1 is parked, thedriver assistance apparatus 100 may set the angle of the third boundary223 of the around-view data 220 to a first reference angle (e.g., 56degrees) and set the angle of the fourth boundary 224 of the around-viewdata 220 to a third reference angle (e.g., 10 degrees) based on adetermination that the obstacle 2 is detected from the right side of thevehicle 1.

While vehicle 1 is parked, the driver assistance apparatus 100 maychange the angle of the third boundary 223 of the around-view data 220to a second reference angle (e.g., 80 degrees) based on a determinationthat the another obstacle 2 is detected from the left rear side of thevehicle 1.

While vehicle 1 is parked, the driver assistance apparatus 100 maychange the angle of the third boundary 223 of the around-view data 220to a third reference angle (e.g., 10 degrees) based on a determinationthat the another obstacle 2 is detected from the left side of thevehicle 1.

As described above, while vehicle 1 perform rear parking, the driverassistance apparatus 100 may change the angle of the third boundary 223and the angle of the fourth boundary 224 of the around-view data 220according to the location of the obstacle 2.

FIG. 17 illustrates an example of changing boundaries of around-viewdata of a driver assistance apparatus according to an embodiment.

The driver assistance apparatus 100 may change the angle of theboundaries 221, 222, 223, and 224 combining the top-view data 211, 212,213, and 214 to generate the around-view data 220. For example, thedriver assistance apparatus 100 may change the angles of the boundaries221, 222, 223, and 224 from a first reference angle (e.g., 56 degrees)to a second reference angle (e.g., 80 degrees) or change from a thirdreference angle (e.g., 10 degrees) to a second reference angle.

At this time, as shown in FIG. 17, the angles of the boundaries 221,222, 223, and 224 of the around-view data 220 may be changed graduallyor stepwise between a predetermined time intervals (between the firsttime t1 and the second time t2). For example, the driver assistanceapparatus 100 may change the angles of the boundaries 221, 222, 223, and224 of the around-view data 220 gradually or stepwise within 0.5seconds.

FIG. 18 illustrates a change in an image at boundaries of around-viewdata of a driver assistance apparatus according to an embodiment.

The driver assistance apparatus 100 may combine the top-view data 211,212, 213, and 214 to generate the around-view data 220. The top-viewdata 211, 212, 213, and 214 may be changed gradually or stepwise at thecombined boundaries 221, 222, 223, 224 and the image data may be changedgradually or stepwise within a predetermined area. For example, thedriver assistance apparatus 100 may change the top-view data graduallyor stepwise within a range of about 5 degrees with respect to the innercontact point of the top-view data.

As shown 18, the first top-view data 211 may be combined with the thirdtop-view data 213. In this case, the first top-view data 211 may becometransparent gradually within a range of about 5 degrees with respect tothe first boundary 221 in contact with the third top-view data 213. Inaddition, the third top-view data 213 may also become transparentgradually within a range of about 5 degrees with respect to the firstboundary 221. Accordingly, the around-view image may be naturallychanged from the first top-view image to the third top-view image at thefirst boundary 221.

FIG. 19 illustrates a method of generating around-view data by a driverassistance apparatus according to an embodiment.

Referring to FIG. 19, a method 1000 in which the driver assistanceapparatus 100 generates around-view data is described.

The vehicle 1 photographs a plurality of images (1010).

The driver assistance apparatus 100 may acquire a plurality of imagedata 201, 202, 203, and 204 through the plurality of cameras 111, 112,113, and 114.

The vehicle 1 converts a plurality of images (1020).

The driver assistance apparatus 100 may convert a plurality of imagedata 201, 202, 203, and 204 into a plurality of top-view data 211, 212,213, and 214.

The vehicle 1 identifies the position of the obstacle (1030).

The driver assistance apparatus 100 may acquire a plurality of detectiondata through the plurality of ultrasound sensors 121, 122, 123, and 124.

The vehicle (1) combines a plurality of converted images based on theposition of the obstacle (1040).

The driver assistance apparatus 100 may set angles of boundaries forcombining the top-view data 211, 212, 213, and 214 based on the positionof the obstacle.

The driver assistance apparatus 100 cuts the top-view data 211, 212,213, and 214 according to the angles of set boundaries and may generatethe around-view data 220 by combining the cut top-view data 211, 212,213, and 214.

The vehicle 1 displays the combined image (1050).

The driver assistance apparatus 100 may provide the around-view data 220to the display 10 to display the around-view data 220, and the display10 may display the around-view data 220.

According to one aspect of the present disclosure, it is possible toprovide a driver assistance apparatus, a vehicle, and a method ofcontrolling a vehicle that can display an image of a surrounding withoutdistortion of a surrounding obstacle during parking.

Embodiments of the present disclosure have been described above. In theembodiments described above, some components may be implemented as a“module”. Here, the term ‘module’ means, but is not limited to, asoftware and/or hardware component, such as a Field Programmable GateArray (FPGA) or Application Specific Integrated Circuit (ASIC), whichperforms certain tasks. A module may advantageously be configured toreside on the addressable storage medium and configured to execute onone or more processors.

Thus, a module may include, by way of example, components, such assoftware components, object-oriented software components, classcomponents and task components, processes, functions, attributes,procedures, subroutines, segments of program code, drivers, firmware,microcode, circuitry, data, databases, data structures, tables, arrays,and variables. The operations provided for in the components and modulesmay be combined into fewer components and modules or further separatedinto additional components and modules. In addition, the components andmodules may be implemented such that they execute one or more CPUs in adevice.

With that being said, and in addition to the above describedembodiments, embodiments can thus be implemented through computerreadable code/instructions in/on a medium, e.g., a computer readablemedium, to control at least one processing element to implement anyabove described embodiment. The medium can correspond to anymedium/media permitting the storing and/or transmission of the computerreadable code.

The computer-readable code can be recorded on a medium or transmittedthrough the Internet. The medium may include Read Only Memory (ROM),Random Access Memory (RAM), Compact Disk-Read Only Memories (CD-ROMs),magnetic tapes, floppy disks, and optical recording medium. Also, themedium may be a non-transitory computer-readable medium. The media mayalso be a distributed network, so that the computer readable code isstored or transferred and executed in a distributed fashion. Stillfurther, as only an example, the processing element could include atleast one processor or at least one computer processor, and processingelements may be distributed and/or included in a single device.

While embodiments have been described with respect to a limited numberof embodiments, those having ordinary skill in the art, having thebenefit of this disclosure, should appreciate that other embodiments canbe devised and do not depart from the scope as disclosed herein.Accordingly, the scope should be limited only by the attached claims.

What is claimed is:
 1. A vehicle comprising: a first camera mounted on the vehicle to have a first field of view and configured to acquire first image data; a second camera mounted on the vehicle to have a second field of view and configured to acquire second image data; a display; and a controller configured to: display around-view data in which the first mage data and the second image data are combined so that a boundary between the first image data and the second image data becomes a first reference angle on the display, and display around-view data in which the first image data and the second image data are combined so that the boundary between the first image data and the second image data becomes a second reference angle on the display based on an obstacle located around the vehicle.
 2. The vehicle of claim 1, wherein the controller is configured to combine the first image data and the second image data so that an area occupied by the first image data in the around-view data is expanded based on the obstacle located in the first field of view.
 3. The vehicle of claim 1, wherein the controller is configured to combine the first image data and the second image data so that an area occupied by the second image data in the around-view data is expanded based on the obstacle located in the second field of view.
 4. The vehicle of claim 1, wherein: the first camera has the first field of view facing a first direction, the second camera has the second field of view facing a second direction, and the controller is configured to combine the first image data and the second image data so that the boundary faces the second direction based on the obstacle located in the first field of view.
 5. The vehicle of claim 1, wherein: the first camera has the first field of view facing a first direction, the second camera has the second field of view facing a second direction, and the controller is configured to combine the first image data and the second image data so that the boundary faces the first direction based on the obstacle located in the second field of view.
 6. The vehicle of claim 1, wherein: the first camera has the first field of view facing a front or rear of the vehicle, and the second camera has the second field of view facing a left or right side of the vehicle.
 7. The vehicle of claim 6, wherein the controller is configured to combine the first image data and the second image data so that an angle between the boundary and a driving direction of the vehicle becomes a second reference angle greater than the first reference angle based on the obstacle located in front or rear of the vehicle.
 8. The vehicle of claim 6, wherein the controller is configured to combine the first image data and the second image data so that an angle between the boundary and a driving direction of the vehicle becomes a second reference angle less than the first reference angle based on the obstacle located in right side or left side of the vehicle.
 9. The vehicle of claim 6, wherein the controller is configured to combine the first image data and the second image data so that an angle between the boundary and a driving direction of the vehicle becomes a second reference angle less than the first reference angle based on a driving speed of the vehicle being equal to or greater than a reference speed.
 10. The vehicle of claim 6, wherein the controller is configured to combine the first image data and the second image data so that an angle between the boundary and a driving direction of the vehicle becomes a second reference angle greater than the first reference angle based on an opening of the vehicle door.
 11. The vehicle of claim 6, wherein the controller is configured to combine the first image data and the second image data so that an angle between the boundary and a driving direction of the vehicle becomes a second reference angle less than the first reference angle based on an opening of a trunk gate of the vehicle.
 12. The vehicle of claim 1, further comprising: a first ultrasound sensor mounted on the vehicle to have a first detection area overlapping the first field of view and configured to detect the obstacle; and a second ultrasound sensor mounted on the vehicle to have a second detection area overlapping the second field of view and configured to detect the obstacle.
 13. The vehicle of claim 12, wherein the controller is configured to combine the first image data and the second image data so that an area occupied by the first image data in the around-view data is expanded based on a determination that the obstacle is detected by the first ultrasound sensor.
 14. The vehicle of claim 12, wherein the controller is configured to combine the first image data and the second image data so that an area occupied by the second image data in the around-view data is expanded based on a determination that the obstacle is detected by the second ultrasound sensor.
 15. The vehicle of claim 12, wherein the first ultrasound sensor has a first detection area facing a front or rear of the vehicle, and the second ultrasound sensor has a second detection area facing a left or right side of the vehicle.
 16. The vehicle of claim 12, wherein the controller is configured to combine the first image data and the second image data so that an angle between the boundary and a driving direction of the vehicle becomes a second reference angle greater than the first reference angle based on a determination that the obstacle is detected by the first ultrasound sensor.
 17. The vehicle of claim 12, wherein the controller is configured to combine the first image data and the second image data so that an angle between the boundary and a driving direction of the vehicle becomes a second reference angle less than the first reference angle based on a determination that the obstacle is detected by the second ultrasound sensor.
 18. A method of controlling a vehicle comprising a first camera having a first field of view and a second camera having a second field of view, the method comprising: acquiring first image data by the first camera; acquiring second image data by the second camera; displaying first around-view data in which the first image data and the second image data are combined so that a boundary between the first image data and the second image data becomes a first reference angle; and displaying second around-view data in which the first image data and the second image data are combined so that a boundary between the first image data and the second image data becomes a second reference angle based on an obstacle located around the vehicle.
 19. A driver assistance apparatus comprising: a first camera mounted on the vehicle to have a first field of view and configured to acquire first image data; a second camera mounted on the vehicle to have a second field of view and configured to acquire second image data; and a controller configured to: transmit around-view data to a display of the vehicle to display around-view data in which the first image data and the second image data are combined so that a boundary between the first image data and the second image data becomes a first reference angle, and combine the first image data and the second image data so that a boundary between the first image data and the second image data becomes a second reference angle based on an obstacle located around the vehicle. 